Seyed Sina Mirrazavi Salehian — accepted AI-conference papers

2020

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Mahdi Khoramshahi, Gustav Henriks, Aileen Naef, Seyed Sina Mirrazavi Salehian, Joonyoung Kim, Aude Billard

ICRA 2020poster

Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. All these challenges are regrouped when one, f…

Cited by 27 Source ↗Scholar ↗

2018

A Dynamical-System-Based Approach for Controlling Robotic Manipulators During Noncontact/Contact Transitions

Seyed Sina Mirrazavi Salehian, Aude Billard

RA-L 2018

Many daily life tasks require precise control when making contact with surfaces. Ensuring a smooth transition from free motion to contact is crucial as incurring a large impact force may lead to unstable contact with the robot bouncing on the surface, i.e., chattering. Stabilizing the forces at cont

Cited by 43 Source ↗Scholar ↗

2018

Learning Augmented Joint-Space Task-Oriented Dynamical Systems: A Linear Parameter Varying and Synergetic Control Approach

Yonadav Shavit, Nadia Figueroa, Seyed Sina Mirrazavi Salehian, Aude Billard

RA-L 2018

In this letter, we propose an asymptotically stable joint-space dynamical system (DS) that captures desired behaviors in joint-space while converging toward a task-space attractor in both position and orientation. To encode joint-space behaviors while meeting the stability criteria, we propose a DS

Cited by 24 Source ↗Scholar ↗

2016

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty

Seyed Sina Mirrazavi Salehian, Nadia Figueroa, Aude Billard

RSS 2016poster

Coordinated control strategies for multi-robot sys- tems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using multiple robots makes the task feasible by ex…

Cited by 0 Source ↗PDF ↗Scholar ↗

2015

An under actuated robotic arm with adjustable stiffness shape memory polymer joints

Amir Firouzeh, Seyed Sina Mirrazavi Salehian, Aude Billard, Jamie Paik

ICRA 2015poster

Various robotic applications including surgical instruments, wearable robots and autonomous mobile robots are often constrained with strict design requirements on high degrees of freedom (DoF) and minimal volume and weight. An intuitive design to meet these contradictory requirements is to embed loc…

Cited by 47 Source ↗Scholar ↗